DE3309002A1 - VIBRATIONS INSULATING BEARING - Google Patents

Description

The invention relates to vibration isolating bearings and, more particularly, to stacked bearings with increased Vertical or buckling stability and increased tensile load absorption.

Robot technology is an area that is developing immensely. Many innovations concern robotic grippers and manipulators, which are considered to be equivalent to human hands can be viewed. Robotic grippers are used in a wide variety of applications, e.g. for a wide range of pick-up and holding activities. To with such a device a directional deviation in the parallelism in the angle between To accommodate the gripper and end of the robotic arm, numerous arrangements have been created in the industry, such as one for example shown in U.S. Patent 4,098,001 is, wherein two end plates are connected in parallel to each other by a plurality of wires. With this arrangement it is possible to reduce the tensile stresses and directional deviations that occur in the aforementioned typical application of a robot

ι to include deviations. A disadvantage of this known arrangement however, lies in the fact that the connecting wires tend to vibrate after each load / unload cycle, thereby increasing the performance of such a warehouse, though it is immediately loaded, strongly depressed or is hindered. In this respect, it is a period of time between successive loads in such an arrangement necessary to allow the camp to return to steady state. Another disadvantage is that that such an arrangement can buckle under pressure tends.

In technology, they are vibration-isolating components known, which are constructed like a sandwich or laminate and alternating layers of an elastomeric and an inextensible material. Typically this is inextensible material in the form of spacers or disks designed, wherein the elastomer is adhered to these, and furthermore, the arrangement of the layer body is zwisehen characterizing flat, parallel opposite flanges or end plates. Such a vibration isolator can easily absorb a compressive load, however it can be susceptible to kinking and it has only a limited ability to withstand tensile loads. As in the USA patent 3 292 711, kinking or buckling of a layered vibration isolator occurs in particular when the ratio of height to width is relatively large. The elastomer in the center strives to to squeeze outwards from the area between the end plates, so that the outline shape of the load parallel outer surface assumes a generally C-shaped shape. (The location of the extreme displacement of the rubber is typically a point between the end plates that is farthest radially from the central axis of the Laminated body is removed, this axis being perpendicular to the planes in which the layers are arranged, This effect can be viewed as if that

Elastomers and the washers in the middle of the column unbalanced, on. Buckling or buckling forces based on the pressure load are squeezed outwards. That means, that when the compressive load is applied along the axis of the component at right angles to this directed forces to be developed. An imbalance or imbalance in these forces causes the elastomer to move perpendicular to the axis of the isolator. If the elastomer shifts sideways with respect to this axis, so its load-bearing capacity is rapidly decreasing, and it is in typically no longer suitable for heavy pressure loads to be included, which is often requested. A number of constructions were disclosed in U.S. Patent 3,292,711 disclosed to limit kinking or buckling of the insulator, however, these constructions do not provide Desired. Ability to absorb both tensile loads and deviations in direction, for example in the case of the above mentioned robot applications.

Ba is to this extent an object of the invention to provide a bearing with a cj it te ig e r t e η to create kink f e st i g k e i t.

Another object of the invention is to provide a layered Specify bearings that are able to withstand compressive forces and that are resistant to buckling or buckling is.

Ferjner, it is an aim of the invention to create a bearing the for ·. Absorption of considerable compressive and tensile loads is suitable, but tsfeetet an increased buckling strength.

Finally, an object of the invention is such Formation of a vibration-isolating bearing to see that this is compressive loads with increased buckling strength can accommodate.

These and other objects of the invention are achieved by a vibration isolating bearing having a laminated body made up of alternating elastomeric and inextensible layers, one with the other adhesively connected between spaced apart and opposite end disks or flanges is. Between the end disks there is at least one wire firmly connected to them, which, if the insulator unencumbered. is, has a linear shape and extends substantially perpendicular to the planes in which the layers of the body are arranged »The wire is preferably made of an inextensible material, e.g. tempered Steel, manufactured. Furthermore, each layer of the laminated body be provided with a centrally arranged hole or a central bore, which is filled with elastomers) is in which the wire is arranged. The laminated body can either after the assembly of the wire with the end washers shaped and shaped separately and then drilled out so that the assembly of the wire with the end washers can then take place. Under load, tensile loads are essentially absorbed by the wire, while Compressive loads are absorbed essentially by the elastomeric laminate and the wire in parallelism. A kink or bump is caused by the combination of these typical properties and, in particular, by the End washers fixed wire severely constrained, and kinking is caused by the arrangement of the elastomer within the central area of the laminate.

Other specific embodiments according to the invention are here. Also .. disclosed. So is an embodiment for Applications designed with a capacity for Tensile loads are not required, while buckling strength is sought. The wire does not have to be pull continuously between the two end disks, but it can rather be on one of the inextensible layers

ι or disks be attached in the laminate. Alternatively two wires aligned with one another can be used, each of which is connected by an assigned end disk, to which it is connected extends towards the other wire, the gap therebetween being substantially is filled with elastomer. According to a further embodiment, the wire sn can at each of its ends at one Fastened end disk and additionally firmly connected to a disk or with several disks in the laminated body in order to obtain an increased buckling strength. Yet another embodiment of the invention includes a Layered body which is designed so that each of its layers is not a flat, but for example one Has truncated cone or spherical zonesförjnige training, the end disks are then adapted to this shape. One of those formed laminated body offers an increased Torsional resistance while resisting shear as well as being resistant to kinks or dents.

The above and other features of the invention including various novel details in construction and in the combination of parts are explained with the aid of examples. Show it:

Fig. 1 is a partially sectioned side view of a

Vibration isolating bearing according to a first embodiment;
Fig. 2 to 6 partially sectioned side views of

further embodiments according to the invention. 30th

The bearing 10 shown in Fig. 1, which isolates vibrations, has two opposing end disks or flanges 12, 14 and an elastomeric layer body 16 alternating layers of an elastomeric material 18 and a substantially inextensible material 20 (Intermediate layers or disks) and a stabilizer 21 arranged in between. The stabilizer 21 is in

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case shown, a thin rod or wire 22, which is made of elasto-

■ mermateria-1 is embedded and the two SUrnsc.heibon

12, 14 connects, wherein its ends 24, 26 are each attached to these discs.

As shown, the end disks 12, 14 are, respectively massive, exact cylinders with spaced-apart inner end faces 28 and 30, with outer, to the inner end faces parallel end faces 32, 34 and with cylinder surfaces Chen 36, 38. On each end flange 12, 14 can also have one Fastening device 40 may be provided to attach these flanges to components (not shown) or elements that are supported by the Bearings are to be connected. The wire 22 is clearly attached to the flanges 12, 14, the Wire ends 24, 26 preferably in the inner end faces 28, 30, although it will be appreciated that other types of fastening could also be considered, e.g. welding, a KeWl seam 42, as shown in FIGS. 2, 4, 5 and 6, is then produced. Such a fillet weld 42 represents is not an essential feature of the invention.

■ \ -i . Si,

The rod or wire 22 n * t a straight or linear gestbit when the bearing 10 is in the unloaded condition. The wire _{i (} l22 must be made of a substantially rigid but pliable material; preferably it is steel. For example, a tempered or heat treated steel such as martensitic stainless steel 250 has proven to be useful because of its ease of preparation for adherence. However, the wire can also be formed from fiberglass material, which has the advantage of being substantially non-conductive, Preferably the wire 22 has a small diameter, on the order of 0.157 cm.

The laminated body 16 comprises a plurality of disks 20, which are preferably formed from metal and, as shown in FIG is shown, the shape of a ring or a washer

washer, so that an inner bore 44 and an outer radius are determined which, for example, approximate the radius of the laminated body 16, which preferably - but not necessarily - has a cylindrical shape, the same is. The disks 20 are spaced apart from one another in the axial direction and are parallel and concentric and at right angles arranged to the longitudinal axis of the bearing 10. A preferred manufacturing method is for the elastomer layers suggests a rubber material that is molded around the washers 20 and wire 22 after they are assembled as an assembly, such as shown have been aligned and aligned. In this way, the elastomer material is adhesively bonded to each of the disks 20 and the inner end faces 28, 30. Also, the elastomer takes the form of an exactly cylindrical tube or "core" within the Washer 20 specific hole and in its area, where it adheres to wire 22. Alternatively, the laminate 16 with a solid core 46, for example are preformed, which is then pierced in order to insert the wire! This is where the installation of wire '- • and laminates between die.Flange 12, 14 and the connection with these connects. In this case, the laminated body with the flanges 12, 14 is secured via an adhesive .glued or otherwise firmly connected.

eat; egg. of the embodiment shown in Fig. 2 is the bearing ■: I) QiAi similar to the camp 10 of FIG. 1 with the exception of the Stabi-AliiTsator 21. In this case, the means restricting kinking or buckling comprises two rods or üWires 52 and 54, one ends 56, 58 each to the ! ■ Flanges 12, 14 are attached, while their other ends i60, 62 are opposite each other at a distance. The two Wires 52, 54 are thus aligned with one another and at right angles to the planes in which the disks 20 and End faces 28, 30 are located when the bearing 10Λ is not loaded by pressure. Between the opposite Wire ends 52, 54 is elastomeric material with

that of the core 46 (see Fig. 1) is integral and preferably is also integral with the elastomer layers 18. This embodiment offers increased resistance to buckling in comparison to a layered bearing in which the inventive concept disclosed here is not applied. Furthermore, the bearing 10A can take compressive loads, but it is not designed to take up tension, which is why it is shown in FIG in this regard is subject to the same limitations as the prior art stratified bearings. However, offers the bearing 10A has the advantage over the embodiment of FIG. 1 that it is more economical and easier to manufacture,

Fig. 3 shows a further modified embodiment for a bearing 10B according to the invention, which has a fastening containment part 21 as a stabilizer, which is formed by a wire 68 which is perpendicular to the end faces 28, 30 is arranged. The wire 68 is connected to an enlarged intermediate disk or plate 70, which leads to is designed similar to the other disks 20, but which does not have a central opening 44 like these disks 20. the Disk 70 is perpendicular to wire 68 and is connected thereto at about its center, e.g., by welding of the wire 68 in a small hole (not shown) in the washer 70 or by welding the two aligned half pieces of wire on each side of the washer 70. Such center bracing provides a symmetry on the longitudinal extent of the columnar bearing and for a support against kinking on his central kink point. This is particularly advantageous for increasing the buckling strength of the bearing 10B.

However, the embodiment of Fig. 3 is like that according to FIG. 2 not designed for the absorption of considerable tensile loads. The theory on which this execution is based in the book "Strength of Materials" by Ferdinand L. Singer, published by Harper and Brothers, New York, N.Y., pages 352-354. In the bearing 10B, the laminated body 71 is more similar

ι way as the laminated body 16 of Fig. 1 is formed with the exception that the disc 70 instead of one of the Discs 20 is inserted. Alternatively, the laminated body 16B can consist of two secondary or partial laminated bodies 72 and 74, each of which is integrally molded in one piece with an associated flange 12 and 14, respectively and is adhesively connected to it, or each partial laminated body can be formed separately and attached to the flange by an adhesive.

Likewise, the partial laminates 72, 74 can be separated formed from the disc 70 and then fixed on both sides thereof with the aid of an adhesive. Alternatively, one of the partial layer bodies 72 or 74 can be formed directly on the pane 70, with later

Ib. ter the other partial laminated body 74 or 72 by means of a Adhesive can be attached or glued to the other flat surface of the disc 70.

Another embodiment according to the invention for a Bearing 10C is shown in FIG. 4, and here, as in the example of FIG. 1, the stabilizer 21 consists of one Wire 22, the ends 24, 26 of which are connected to the end faces 28 and 30, respectively. In contrast to, for example In FIG. 1, however, the wire 22 is here also connected to the disk 70 in a manner as was explained in relation to FIG. 3. With this training an improved restraint against buckling with simultaneous ability to Absorption of compressive and tensile loads achieved.

The bearing 1OD of FIG. 5 represents a modification of the embodiment shown in FIG. 4. In this bearing 1OD there are two disks 75, 76 in an arrangement similar to disk 70 of FIG. 3 or 4, and each of these disks is at right angles to the wire 22

^ ⁵ leagues arranged and connected to this in the manner described above. The disks 75, 76 are spaced from one another so that a three-point bracing is created

will, i.e., they are on the length of the wire 22 with this connected at two of its kink points. It is clear that the break points coincide with those points at which the bending moment is essentially zero. As shown, there are between the flanges 12 or 14 and the washer 75 or 76, which lies next to the flanges, one or more washers 20 are arranged, which also applies to the area between the Seheiben 75, 76 applies. The laminated body 77 can be in one piece be formed or part-laminated body 78, 79 and 80 in a manner similar to the embodiment of FIG contain.

Another embodiment according to the invention shows 6, the bearing 10E being composed of a laminated body 81 with a plurality of frustoconical layers 82, 84 is formed, the layers 18, 20 of the material in the The laminate 16 of FIG. 1 corresponds to and is arranged in the same way as this. The flanges 86, 88 have internal ones End faces 90 and 92, which are not flat, rather concave or convex, so that they are for an intimate Contact with the laminate 81 are designed to match. It will be understood that alternatively layers 82, 84 and . the end faces 90, 92 can each be designed in the manner of spherical zones. It is also clear that a center bracing several wires in alignment or one wire not connected to the flanges as an alternative to or can be provided in combination with this configuration. This training offers a further gain in performance in terms of buckling resistance, while at the same time an increased shear strength is reached early. Thus it allows the absorption of torsional forces, whereby it is resistant to shear and buckling.

It follows from the above description that the subject of the invention can also be put into practice in other ways than shown here. For example any number of braces can be attached to intermediate

ι lowing points in connection with one of the Drahtverbindungsund Fastening methods that have been described come within the scope and spirit of the invention for use. Also need the flanges and composite are not cylindrical in shape, but can be any geometric Have a shape, e.g. of a square or rectangular cross-section. Furthermore, a plurality of them can be in parallel wires extending through the core of the composite in any configuration for any of those described herein Center bracing or fastening methods may be used. Another arrangement for a warehouse, which is not necessary to show, comprises a laminate as described with a plurality of the Flanges connecting wires arranged radially outward from the laminate and around its circumference are.

Claims (1)

Claims marked by two at a distance opposite end flanges (12, 14; 86, 88), through one of alternating layers (18, 82; 20, 84) of an elastomeric and inextensible one Material, which are adhesively connected to one another between the flanges, formed laminated bodies (16, 71, 77, 81) and by a stabilizing stabilizer arranged between the flanges (12, 14; 86, 88) and connecting them Device (21) comprising at least one strut (22; 52, 54), one end (24, 56) of which at one end Flange (12, 86), the other end (26, 58) of which is attached to the other flange (14, 88). 2. Bearing according to claim 1, characterized characterized in that the strut (22; 52, 54} when the bearing (10) is not loaded by pressure is essentially linear and that it extends into the egg ostomer material (18, 46) in the laminate (16, 71, 77, 81) is embedded. 3. Bearing according to claim 1, characterized characterized in that each of the layers (20, 84) of inextensible material is annular with a inner opening (44) is formed and that the strut (22; 52, 54) is formed by a wire arranged in the opening is formed, with the elastomer material of the elastomer Layers (18, 82) a continuous piece of forming material is arranged around the strut. 4. Bearing according to claim 3, characterized
characterized in that the strut is a substantially inextensible wire. 5. A method for producing a vibration isolating bearing, characterized by fastening an end (24) of a wire (22) on a first flange (12, 86) by attaching a second end (26) of the wire on a second flange (14, 88) by placing the flanges in one of the lengths of the wire equal spacing, by forming one from alternating layers of an elastomeric material (18, 82) and one inextensible material (20, 84) consisting of laminated body (16, 77, 81) with alignment of openings (44) in the inextensible layers and forming of. Elastomeric material between the inextensible layers and within the openings and by placing the wire within the aligned openings of the inextensible layers. 6. ... method according to claim 5, ge k e · ή, jn is characterized by shaping the layered body as a one-piece unit, by drilling out an opening dimensioned for: receiving the wire the elastomer material located in "'iJe: O aligned openings and by placing the wire in the bore. 7. The method according to claim 5, characterized by arranging the inextensible Layers parallel as well as spaced from one another, with one of the flanges at each end making the wire perpendicular to the inextensible layers as well as within the aligned openings, and by molding Elastomer material between the inextensible layers, between them and the wire and between the inextensible layers Layers and the flanges. IO 8. vibration isolating bearing, characterized by two opposite one another Flanges (12, 14; 86, 88), through alternating layers of an elastomeric material (18, 82) as well as an essentially inextensible material (2o, 84) having, arranged between the flanges Laminated body (16B, 71, 77, 81) and by one arranged within the laminated body, in the elastomer material embedded stabilizing device (21), the one wire (22, 68) connected to at least one (70, 75, 76) of the inextensible layers. 9. Bearing according to claim 8, characterized
characterized in that the wire (68) is separated from the flanges (12, 14) by elastomeric material. 10. Bearing according to claim 8, characterized characterized in that the wire (22) with at least one of the inextensible layers (70, 75, 76) and at each of its ends (24, 26) with one of the flanges (12, 14; 86, 88) is connected. 11. vibration absorbing bearing,
characterized by two opposing flanges (12, 14), by alternating layers of rubber and rigid disks and by two aligned wires (52, 54), each of which has its first end (56, 58) and is connected to one of the flanges in each case second ends (60, 62) are separated from one another by a rubber layer. 12. Bearing according to claim 1, 8 or 11, characterized marked that the laminate (81) 9 ' is formed from frustoconical layers (82, 84). 13. Bearing according to claim 1, 8 or 11, characterized in that the laminated body consists of spherical zone-like layers is formed. 14. Bearing according to claim 3 or 9, characterized in that the E.lastomer material ^{: is} adhered to the wire. 15. Vibration insulating mount, · ^": characterized by two, ^ e in.cinder opposite flanges (12,14) by a between the _: ·.;. Flanges arranged, mϊφ these adhesively connected ^ i-layer body (77), said stacked from at least two sub-layer bodies (72, 74; 78, 79, 80) having a plurality of alternating layers of elastomer _Mater-.i:. A, and a essentially inextensible material. 'There is, with the inextensible layers little- ² ^';^; least have a through opening passing and the WE • ^Vt t nigsteiil-two sub-layer body through "a slice ■." - :( 70; 75, 76) are separated, and by the inside of ¹ J-'Offnungen in undehnbare.n layers perpendicular ■ "'ü ^ thereto arranged rod-shaped stabilizing EinricK - * i HTZ, MU: Me with the on-disk (70-, 75, 76) firmly comparable.. ''''1'6V.> Xager nachι claim 15, characterized:. "Ge"; .K ^s: ri-t; ^O: '% ch η et that the stabilizing Einrie.htu; ^; Rigv. inv "is a rod connected at one of its ends to one of the flanges. 17. Bearing according to claim 15, characterized in that the laminated body a first partial laminated body (78) which is between one of the flanges (12) and a first intermediate disk (75) is arranged and adhesively connected to these, a second partial laminate body (80), the arranged between the other of the flanges (14) and a second cylindrical disk (76) and adhering to them is connected as well as a third partial laminated body arranged between the first and second intermediate disks (79) and that the first and second toe discs are fixed to the stabilizing device (22) are connected. 18. Bearing according to claim 15 or 17, characterized g e k e η'η ζ e i c ".h η e t that the stabilizing Establishing a in eggastomer material that is in one piece is molded with the elastomeric layers, is embedded rod. 19. Bearing according to claim 18 ,. characterized in that the rod on each its ends are connected to one of the flanges. 20. Bearing according to claim 18, characterized in that the rod (68) with each of its ends runs towards one of the flanges and ends at a distance from the respective flange. '